Model-Controlled Vibration Suppression Filter; Restrictions Of The Two Degree Of Freedom Control Function - Delta ASDA-A3 Series User Manual

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5.7.5 Model-controlled vibration suppression filter

The idea of model-following control is to build a virtual model of the real physical system in the

servo drive in digital format. The virtual model processes the position command planned by the

user and generates an optimized position command. At the same time, the model designs

optimized position feed forward and speed feed forward, so the feedback system follows the

optimized position command, achieving the expected response. If the response designed by the

system does not meet your requirements, fine-tune the parameters P2.091 and P2.092.

Position command

Motor position

Setting P2.094 [Bit 12] to 1 enables the two degree of freedom control mode, but you need to

note for the following restrictions.

1. Set the control mode (P1.001.YX) to Position mode (PT or PR).

2. Set the inertia ratio (P1.037) correctly when using this function.

3. The setting of anti-interference gain (P2.026) is invalid when this function is used.

Vibration suppression

model in the system

A3-l A3-m A3-f A3-e